Tune the spline controller for auto modes
Use the "regular" kalman filter's velocity estimates, since those will
be more stable in the presence of localizer updates.
Change-Id: I9decb651cbdc4a6cf0642ea576c6840e90988803
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/control_loops/drivetrain/trajectory.cc b/frc971/control_loops/drivetrain/trajectory.cc
index 27b31a0..33a8577 100644
--- a/frc971/control_loops/drivetrain/trajectory.cc
+++ b/frc971/control_loops/drivetrain/trajectory.cc
@@ -765,7 +765,7 @@
// TODO(james): Pull these out into a config.
Eigen::Matrix<double, 5, 5> Q;
Q.setIdentity();
- Q.diagonal() << 20.0, 20.0, 20.0, 10.0, 10.0;
+ Q.diagonal() << 30.0, 30.0, 20.0, 15.0, 15.0;
Q *= 2.0;
Q = (Q * Q).eval();